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<div class="title">range_likelihood.h</div>  </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_LIKELIHOOD</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_RANGE_LIKELIHOOD</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;GL/glew.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#ifdef OPENGL_IS_A_FRAMEWORK</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor"># include &lt;OpenGL/gl.h&gt;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor"># include &lt;OpenGL/glu.h&gt;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor"># include &lt;GL/gl.h&gt;</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor"># include &lt;GL/glu.h&gt;</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;boost/random/linear_congruential.hpp&gt;</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;boost/random/normal_distribution.hpp&gt;</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;boost/random/variate_generator.hpp&gt;</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;boost/math/distributions/normal.hpp&gt;</span> <span class="comment">// for normal_distribution</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">//#include &lt;math.h&gt;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;Eigen/StdVector&gt;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//#include &lt;pcl/win32_macros.h&gt;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/range_image_planar.h&gt;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/camera.h&gt;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/scene.h&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/glsl_shader.h&gt;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;pcl/simulation/sum_reduce.h&gt;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;{</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">namespace </span>simulation</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  {</div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html">   36</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html">RangeLikelihood</a></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    {</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;RangeLikelihood&gt; Ptr;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const RangeLikelihood&gt; ConstPtr;</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#ad732e05f39b62fc0b503e10105b3d446">   58</a></span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#ad732e05f39b62fc0b503e10105b3d446">RangeLikelihood</a> (<span class="keywordtype">int</span> rows,</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                         <span class="keywordtype">int</span> cols,</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;                         <span class="keywordtype">int</span> row_height,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                         <span class="keywordtype">int</span> col_width,</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                         Scene::Ptr scene);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#a66398bc8f4133abb63e9db774e958946">   67</a></span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#a66398bc8f4133abb63e9db774e958946">~RangeLikelihood</a> ();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#ae1e329c68e4d8e6b6248dc78927e182a">   78</a></span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#ae1e329c68e4d8e6b6248dc78927e182a">computeLikelihoods</a> (<span class="keywordtype">float</span>* reference,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                            std::vector&lt;Eigen::Isometry3d, Eigen::aligned_allocator&lt;Eigen::Isometry3d&gt; &gt; poses,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                            std::vector&lt;float&gt; &amp; scores);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#a24bfd65a4e209cf69261db64c052b316">   86</a></span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#a24bfd65a4e209cf69261db64c052b316">setCameraIntrinsicsParameters</a> (<span class="keywordtype">int</span> camera_width_in,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                      <span class="keywordtype">int</span> camera_height_in,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                                      <span class="keywordtype">float</span> camera_fx_in,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                                      <span class="keywordtype">float</span> camera_fy_in,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                                      <span class="keywordtype">float</span> camera_cx_in,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                      <span class="keywordtype">float</span> camera_cy_in)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          camera_width_ = camera_width_in;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          camera_height_ = camera_height_in;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          camera_fx_ = camera_fx_in;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          camera_fy_ = camera_fy_in;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          camera_cx_ = camera_cx_in;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          camera_cy_ = camera_cy_in;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        </div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#acf234b356cc68cac059e4cd65e48dfd0">  104</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#acf234b356cc68cac059e4cd65e48dfd0">setCostFunction</a> (<span class="keywordtype">int</span> which_cost_function_in){  which_cost_function_ = which_cost_function_in;}</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">void</span> setSigma (<span class="keywordtype">double</span> sigma_in){  sigma_ = sigma_in;    }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">void</span> setFloorProportion (<span class="keywordtype">double</span> floor_proportion_in){  floor_proportion_ = floor_proportion_in;}</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">int</span> getRows () {<span class="keywordflow">return</span> rows_;}</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">int</span> getCols () {<span class="keywordflow">return</span> cols_;}</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordtype">int</span> getRowHeight () {<span class="keywordflow">return</span> row_height_;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">int</span> getColWidth () {<span class="keywordflow">return</span> col_width_;}</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordtype">int</span> getWidth () {<span class="keywordflow">return</span> width_;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordtype">int</span> getHeight () {<span class="keywordflow">return</span> height_;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="comment">// Convenience function to return simulated RGB-D PointCloud</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="comment">// Two modes:</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="comment">// global=false - PointCloud is as would be captured by an RGB-D camera [default]</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="comment">// global=true  - PointCloud is transformed into the model/world frame using the camera pose</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordtype">void</span> getPointCloud (pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr pc,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;              <span class="keywordtype">bool</span> make_global, <span class="keyword">const</span> Eigen::Isometry3d &amp; pose);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="comment">// Convenience function to return RangeImagePlanar containing</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="comment">// simulated RGB-D:</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keywordtype">void</span> getRangeImagePlanar (<a class="code" href="classpcl_1_1_range_image_planar.html">pcl::RangeImagePlanar</a> &amp;rip);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// Add various types of noise to simulated RGB-D data</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">void</span> addNoise ();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">double</span> sampleNormal (<span class="keywordtype">double</span> sigma = 1.0);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        setComputeOnCPU(<span class="keywordtype">bool</span> compute_on_cpu) { compute_likelihood_on_cpu_ = compute_on_cpu; }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        setSumOnCPU(<span class="keywordtype">bool</span> sum_on_cpu) { aggregate_on_cpu_ = sum_on_cpu; }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        setUseColor(<span class="keywordtype">bool</span> use_color) { use_color_ = use_color; }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keyword">const</span> uint8_t*</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        getColorBuffer ();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        getDepthBuffer ();</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        getScoreBuffer ();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1simulation_1_1_range_likelihood.html#a00c689b8e7c0ec55aee337db0f18501e">  156</a></span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_range_likelihood.html#a00c689b8e7c0ec55aee337db0f18501e">computeScores</a> (<span class="keywordtype">float</span>* reference,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                       std::vector&lt;float&gt; &amp; scores);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        computeScoresShader (<span class="keywordtype">float</span>* reference);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        render (<span class="keyword">const</span> std::vector&lt;Eigen::Isometry3d, Eigen::aligned_allocator&lt;Eigen::Isometry3d&gt; &gt; &amp; poses);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        drawParticles (std::vector&lt;Eigen::Isometry3d, Eigen::aligned_allocator&lt;Eigen::Isometry3d&gt; &gt; poses);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        applyCameraTransform (<span class="keyword">const</span> Eigen::Isometry3d &amp; pose);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        applyCameraTransform (<span class="keyword">const</span> <a class="code" href="classpcl_1_1simulation_1_1_camera.html">Camera</a> &amp; camera);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        setupProjectionMatrix ();</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        Scene::Ptr scene_;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">int</span> rows_;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">int</span> cols_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordtype">int</span> row_height_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">int</span> col_width_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">int</span> width_;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordtype">int</span> height_;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">float</span>* depth_buffer_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        uint8_t* color_buffer_;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="comment">// Camera Intrinsic Parameters</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordtype">int</span> camera_width_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">int</span> camera_height_;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">float</span> camera_fx_;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">float</span> camera_fy_;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">float</span> camera_cx_;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">float</span> camera_cy_;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="comment">// min and max range of the rgbd sensor</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="comment">// everything outside this doesnt appear in depth images</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordtype">float</span> z_near_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordtype">float</span> z_far_;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordtype">bool</span> depth_buffer_dirty_;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordtype">bool</span> color_buffer_dirty_;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">bool</span> score_buffer_dirty_;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordtype">int</span> which_cost_function_;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">double</span> floor_proportion_;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordtype">double</span> sigma_;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        GLuint fbo_;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        GLuint score_fbo_;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        GLuint depth_render_buffer_;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        GLuint color_render_buffer_;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        GLuint color_texture_;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        GLuint depth_texture_;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        GLuint score_texture_;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        GLuint score_summarized_texture_;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        GLuint sensor_texture_;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        GLuint likelihood_texture_;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">bool</span> compute_likelihood_on_cpu_;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">bool</span> aggregate_on_cpu_;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">bool</span> use_instancing_;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordtype">bool</span> generate_color_image_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordtype">bool</span> use_color_;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        gllib::Program::Ptr likelihood_program_;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        GLuint quad_vbo_;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; vertices_;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">float</span>* score_buffer_;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_quad.html">Quad</a> quad_;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <a class="code" href="classpcl_1_1simulation_1_1_sum_reduce.html">SumReduce</a> sum_reduce_;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    };</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt; T</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    sqr(T val) { <span class="keywordflow">return</span> val*val; }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  } <span class="comment">// namespace - simulation</span></div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;} <span class="comment">// namespace - pcl</span></div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_range_image_planar_html"><div class="ttname"><a href="classpcl_1_1_range_image_planar.html">pcl::RangeImagePlanar</a></div><div class="ttdoc">RangeImagePlanar is derived from the original range image and differs from it because it's not a sphe...</div><div class="ttdef"><b>Definition:</b> range_image_planar.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_camera_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_camera.html">pcl::simulation::Camera</a></div><div class="ttdef"><b>Definition:</b> camera.h:15</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_quad_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_quad.html">pcl::simulation::Quad</a></div><div class="ttdef"><b>Definition:</b> model.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html">pcl::simulation::RangeLikelihood</a></div><div class="ttdef"><b>Definition:</b> range_likelihood.h:37</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_a00c689b8e7c0ec55aee337db0f18501e"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#a00c689b8e7c0ec55aee337db0f18501e">pcl::simulation::RangeLikelihood::computeScores</a></div><div class="ttdeci">void computeScores(float *reference, std::vector&lt; float &gt; &amp;scores)</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_a24bfd65a4e209cf69261db64c052b316"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#a24bfd65a4e209cf69261db64c052b316">pcl::simulation::RangeLikelihood::setCameraIntrinsicsParameters</a></div><div class="ttdeci">void setCameraIntrinsicsParameters(int camera_width_in, int camera_height_in, float camera_fx_in, float camera_fy_in, float camera_cx_in, float camera_cy_in)</div><div class="ttdef"><b>Definition:</b> range_likelihood.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_a66398bc8f4133abb63e9db774e958946"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#a66398bc8f4133abb63e9db774e958946">pcl::simulation::RangeLikelihood::~RangeLikelihood</a></div><div class="ttdeci">~RangeLikelihood()</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_acf234b356cc68cac059e4cd65e48dfd0"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#acf234b356cc68cac059e4cd65e48dfd0">pcl::simulation::RangeLikelihood::setCostFunction</a></div><div class="ttdeci">void setCostFunction(int which_cost_function_in)</div><div class="ttdef"><b>Definition:</b> range_likelihood.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_ad732e05f39b62fc0b503e10105b3d446"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#ad732e05f39b62fc0b503e10105b3d446">pcl::simulation::RangeLikelihood::RangeLikelihood</a></div><div class="ttdeci">RangeLikelihood(int rows, int cols, int row_height, int col_width, Scene::Ptr scene)</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_range_likelihood_html_ae1e329c68e4d8e6b6248dc78927e182a"><div class="ttname"><a href="classpcl_1_1simulation_1_1_range_likelihood.html#ae1e329c68e4d8e6b6248dc78927e182a">pcl::simulation::RangeLikelihood::computeLikelihoods</a></div><div class="ttdeci">void computeLikelihoods(float *reference, std::vector&lt; Eigen::Isometry3d, Eigen::aligned_allocator&lt; Eigen::Isometry3d &gt; &gt; poses, std::vector&lt; float &gt; &amp;scores)</div></div>
<div class="ttc" id="aclasspcl_1_1simulation_1_1_sum_reduce_html"><div class="ttname"><a href="classpcl_1_1simulation_1_1_sum_reduce.html">pcl::simulation::SumReduce</a></div><div class="ttdoc">Implements a parallel summation of float arrays using GLSL. The input array is provided as a float te...</div><div class="ttdef"><b>Definition:</b> sum_reduce.h:36</div></div>
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